Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers

IEEE Transactions on Industrial Electronics

Volumn 62, Issue 11, 2015, Pages 7151-7162

  Zhao, Ye ^a   Paine, Nicholas ^a   Kim, Kwan Suk ^a   Sentis, Luis ^a  

^a The University of Texas at Austin   (United States)

Author keywords

Control; Distributed Feedback; Feedback Delays; High Impedance Control; Mobile Robotics

Indexed keywords

CONTROL; DAMPING; FEEDBACK CONTROL; ROBOTICS; STIFFNESS;

DISTRIBUTED CONTROLLER; DISTRIBUTED FEEDBACK; FEEDBACK DELAY; HIGH IMPEDANCE; IMPEDANCE CONTROLLERS; MECHANICAL DISTURBANCE; MOBILE ROBOTIC; OMNI-DIRECTIONAL MOBILES;

CONTROLLERS;

EID: 84944128485     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2015.2448513     Document Type: Article

References (37)

1. N. Paine et al., "Actuator control for the NASA-JSC Valkyrie humanoid robot: A decoupled dynamics approach for torque control of series elastic robots," J. Field Robot., vol. 32, no. 3, pp. 378-396, May 2015.
2. Y. Sakagami et al., "The intelligent ASIMO: System overview and integration," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2002, vol. 3, pp. 2478-2483.
3. M. A. Diftler et al., "Robonaut 2-The first humanoid robot in space," in Proc. IEEE Int. Conf. Robot. Autom., May 2011, pp. 2178-2183.
4. A. M. Okamura, "Methods for haptic feedback in teleoperated robotassisted surgery," Ind. Robot, Int. J., vol. 31, no. 6, pp. 499-508, Dec. 2004.
5. J.-Y. Kim et al., "System design and dynamic walking of humanoid robot KHR-2," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2005, pp. 1431-1436.
6. V.M. Santos and F. M. Silva, "Design and low-level control of a humanoid robot using a distributed architecture approach," J. Vib. Control, vol. 12, no. 12, pp. 1431-1456, Dec. 2006.
7. L. Lu and B. Yao, "A performance oriented multi-loop constrained adaptive robust tracking control of one-degree-of-freedom mechanical systems: Theory and experiments," Automatica, vol. 50, no. 4, pp. 1143-1150, Apr. 2014.
8. J. C. Martin and L. George, "Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems," IEEE Trans. Autom. Control, vol. 26, no. 5, pp. 1139-1144, Oct. 1981.
9. O. Khatib, "A unified approach to motion and force control of robot manipulators: The operational space formulation," Int. J. Robot. Autom., vol. RA-3, no. 1, pp. 43-53, Feb. 1987.
10. W. Zeng and M. Chow, "A reputation-based secure distributed control methodology in D-NCS," IEEE Trans. Ind. Electron., vol. 61, no. 11, pp. 6294-6303, Nov. 2014.
11. C. Wang and D. Li, "Decentralized PID controllers based on probabilistic robustness," J. Dyn. Syst., Meas., Control, vol. 133, no. 6, 2011, Art. ID. 061015.
12. G. Cheng et al., "CB: A humanoid research platform for exploring neuroscience," Adv. Robot., vol. 21, no. 10, pp. 1097-1114, 2007.
13. G. Gu, L. Zhu, Z. Xiong, and H. Ding, "Design of a distributed multiaxis motion control system using the IEEE-1394 bus," IEEE Trans. Ind. Electron., vol. 57, no. 12, pp. 4209-4218, Dec. 2010.
14. M. Jantsch, S. Wittmeier, and A. Knoll, "Distributed control for an anthropomimetic robot," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Oct. 2010, pp. 5466-5471.
15. A. J. Ijspeert, "Central pattern generators for locomotion control in animals and robots: A review," Neural Netw., vol. 21, no. 4, pp. 642-653, May 2008.
16. M. Ajallooeian, S. Pouya, A. Sproewitz, and A. J. Ijspeert, "Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion," in Proc. IEEE Int. Conf. Robot. Autom., 2013, pp. 3321-3328.
17. C.-H. Lee, "A survey of PID controller design based on gain and phase margins," Int. J. Comput. Cognition, vol. 2, pp. 63-100, 2004.
18. K. J. Åström, "Automatic tuning and adaptation for PID controllers-A survey," Control Eng. Practice, vol. 1, pp. 699-714, 1993.
19. E. Poulin, A. Pomerleau, A. Desbiens, and D. Hodouin, "Development and evaluation of an auto-tuning and adaptive PID controller," Automatica, vol. 32, no. 1, pp. 71-82, Jan. 1996.
20. O. Yaniv and M. Nagurka, "Design of PID controllers satisfying gain margin and sensitivity constraints on a set of plants," Automatica, vol. 40, no. 1, pp. 111-116, Jan. 2004.
21. Y. Tipsuwan and M.-Y. Chow, "Gain scheduler middleware: A methodology to enable existing controllers for networked control and teleoperation Part I: Networked control," IEEE Trans. Ind. Electron., vol. 51, no. 6, pp. 1218-1227, Dec. 2004.
22. J. Y. Lee, M. Jin, and P. H. Chang, "Variable PID gain tuning method using backstepping control with time-delay estimation and nonlinear damping," IEEE Trans. Ind. Electron., vol. 61, no. 12, pp. 6975-6985, Dec. 2014.
23. J. Colgate and G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces," in Proc. Amer. Control Conf., 1994, vol. 3, pp. 3236-3240.
24. H. Gao, T. Chen, and J. Lam, "A new delay system approach to networkbased control," Automatica, vol. 44, no. 1, pp. 39-52, 2008.
25. H. Gao, X. Meng, and T. Chen, "Stabilization of networked control systems with a new delay characterization," IEEE Trans. Autom. Control, vol. 53, no. 9, p. 2142, Oct. 2008.
26. Z.-H. Pang, G.-P. Liu, D. Zhou, and M. Chen, "Output tracking control for networked systems a model based prediction approach," IEEE Trans. Ind. Electron., vol. 61, no. 9, pp. 4867-4877, Sep. 2014.
27. H. Dong, Z. Wang, and H. Gao, "Distributed h-infinity filtering for a class of Markovian jump nonlinear time-delay systems over lossy sensor networks," IEEE Trans. Ind. Electron., vol. 60, no. 10, pp. 4665-4672, Oct. 2013.
28. T. Hulin, R. G. Camarero, and A. Albu-Schaffer, "Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Nov. 2013, pp. 4505-4511.
29. S. Yin, X. Li, H. Gao, and O. Kaynak, "Data-based techniques focused on modern industry: An overview," IEEE Trans. Ind. Electron., vol. 62, no. 1, pp. 657-667, Jan. 2015.
30. S. Yin, S. X. Ding, X. Xie, and H. Luo, "A review on basic data-driven approaches for industrial process monitoring," IEEE Trans. Ind. Electron., vol. 61, no. 11, pp. 6418-6428, Nov. 2014.
31. N. A. Paine and L. Sentis, "A closed-form solution for selecting maximum critically damped actuator impedance parameters," J. Dyn. Syst., Meas., Control, vol. 137, no. 4, 2015, Art. ID. 041011.
32. K. Ogata and Y. Yang, Modern Control Engineering. Englewood Cliffs, NJ, USA: Prentice-Hall, 1970.
33. Y. Zhao, N. Paine, and L. Sentis, "Sensitivity comparison to loop latencies between damping versus stiffness feedback control action in distributed controllers," in Proc. ASME Dyn. Syst. Control Conf., 2014, pp. 1-10.
34. N. Paine, S. Oh, and L. Sentis, "Design and control considerations for high-performance series elastic actuators," IEEE/ASME Trans. Mechatronics, vol. 19, no. 3, pp. 1080-1091, Jun. 2014.
35. K. Kim, A. Kwok, and L. Sentis, "Contact sensing and mobility rough and cluttered environments," in Proc. Eur. Conf. Mobile Robot., Sep. 2013, pp. 274-281.
36. L. Sentis, "Synthesis and control of whole-body behaviors in humanoid systems," Ph.D. dissertation, Dept. Elect. Eng., Stanford Univ., Stanford, CA, USA, 2007.
37. Y. Zhao, N. Paine, and L. Sentis, "Feedback parameter selection for impedance control of series elastic actuators," in Proc. IEEE-RAS Int. Conf. Humanoid Robot., Nov. 2014, pp. 999-1006.